<html>
 <body>
  <p>
   <strong>MAVLink Include Files:</strong>
   <a href="common.md">common.xml</a>
  </p>
  <h2>MAVLink Protocol Version</h2>
  <p>The current MAVLink version is 2.2. The minor version numbers (after the dot) range from 1-255.</p>
  <p>This file has protocol dialect: 1.</p>
  <h2 id="enums">MAVLink Type Enumerations</h2>
  <h3 id="MAV_AVSS_COMMAND_FAILURE_REASON">MAV_AVSS_COMMAND_FAILURE_REASON</h3>
  <p>
   <a href="#enums">
    [Enum]
   </a>
  </p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Value</th>
     <th>Field Name</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr id="PRS_NOT_STEADY">
     <td>1</td>
     <td>
      <a href="#PRS_NOT_STEADY">PRS_NOT_STEADY</a>
     </td>
     <td>AVSS defined command failure reason. PRS not steady.</td>
    </tr>
    <tr id="PRS_DTM_NOT_ARMED">
     <td>2</td>
     <td>
      <a href="#PRS_DTM_NOT_ARMED">PRS_DTM_NOT_ARMED</a>
     </td>
     <td>AVSS defined command failure reason. PRS DTM not armed.</td>
    </tr>
    <tr id="PRS_OTM_NOT_ARMED">
     <td>3</td>
     <td>
      <a href="#PRS_OTM_NOT_ARMED">PRS_OTM_NOT_ARMED</a>
     </td>
     <td>AVSS defined command failure reason. PRS OTM not armed.</td>
    </tr>
   </tbody>
  </table>
  <h3 id="AVSS_M300_OPERATION_MODE">AVSS_M300_OPERATION_MODE</h3>
  <p>
   <a href="#enums">
    [Enum]
   </a>
  </p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Value</th>
     <th>Field Name</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr id="MODE_M300_MANUAL_CTRL">
     <td>0</td>
     <td>
      <a href="#MODE_M300_MANUAL_CTRL">MODE_M300_MANUAL_CTRL</a>
     </td>
     <td>In manual control mode</td>
    </tr>
    <tr id="MODE_M300_ATTITUDE">
     <td>1</td>
     <td>
      <a href="#MODE_M300_ATTITUDE">MODE_M300_ATTITUDE</a>
     </td>
     <td>In attitude mode</td>
    </tr>
    <tr id="MODE_M300_P_GPS">
     <td>6</td>
     <td>
      <a href="#MODE_M300_P_GPS">MODE_M300_P_GPS</a>
     </td>
     <td>In GPS mode</td>
    </tr>
    <tr id="MODE_M300_HOTPOINT_MODE">
     <td>9</td>
     <td>
      <a href="#MODE_M300_HOTPOINT_MODE">MODE_M300_HOTPOINT_MODE</a>
     </td>
     <td>In hotpoint mode</td>
    </tr>
    <tr id="MODE_M300_ASSISTED_TAKEOFF">
     <td>10</td>
     <td>
      <a href="#MODE_M300_ASSISTED_TAKEOFF">MODE_M300_ASSISTED_TAKEOFF</a>
     </td>
     <td>In assisted takeoff mode</td>
    </tr>
    <tr id="MODE_M300_AUTO_TAKEOFF">
     <td>11</td>
     <td>
      <a href="#MODE_M300_AUTO_TAKEOFF">MODE_M300_AUTO_TAKEOFF</a>
     </td>
     <td>In auto takeoff mode</td>
    </tr>
    <tr id="MODE_M300_AUTO_LANDING">
     <td>12</td>
     <td>
      <a href="#MODE_M300_AUTO_LANDING">MODE_M300_AUTO_LANDING</a>
     </td>
     <td>In auto landing mode</td>
    </tr>
    <tr id="MODE_M300_NAVI_GO_HOME">
     <td>15</td>
     <td>
      <a href="#MODE_M300_NAVI_GO_HOME">MODE_M300_NAVI_GO_HOME</a>
     </td>
     <td>In go home mode</td>
    </tr>
    <tr id="MODE_M300_NAVI_SDK_CTRL">
     <td>17</td>
     <td>
      <a href="#MODE_M300_NAVI_SDK_CTRL">MODE_M300_NAVI_SDK_CTRL</a>
     </td>
     <td>In sdk control mode</td>
    </tr>
    <tr id="MODE_M300_S_SPORT">
     <td>31</td>
     <td>
      <a href="#MODE_M300_S_SPORT">MODE_M300_S_SPORT</a>
     </td>
     <td>In sport mode</td>
    </tr>
    <tr id="MODE_M300_FORCE_AUTO_LANDING">
     <td>33</td>
     <td>
      <a href="#MODE_M300_FORCE_AUTO_LANDING">MODE_M300_FORCE_AUTO_LANDING</a>
     </td>
     <td>In force auto landing mode</td>
    </tr>
    <tr id="MODE_M300_T_TRIPOD">
     <td>38</td>
     <td>
      <a href="#MODE_M300_T_TRIPOD">MODE_M300_T_TRIPOD</a>
     </td>
     <td>In tripod mode</td>
    </tr>
    <tr id="MODE_M300_SEARCH_MODE">
     <td>40</td>
     <td>
      <a href="#MODE_M300_SEARCH_MODE">MODE_M300_SEARCH_MODE</a>
     </td>
     <td>In search mode</td>
    </tr>
    <tr id="MODE_M300_ENGINE_START">
     <td>41</td>
     <td>
      <a href="#MODE_M300_ENGINE_START">MODE_M300_ENGINE_START</a>
     </td>
     <td>In engine mode</td>
    </tr>
   </tbody>
  </table>
  <h3 id="AVSS_HORSEFLY_OPERATION_MODE">AVSS_HORSEFLY_OPERATION_MODE</h3>
  <p>
   <a href="#enums">
    [Enum]
   </a>
  </p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Value</th>
     <th>Field Name</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr id="MODE_HORSEFLY_MANUAL_CTRL">
     <td>0</td>
     <td>
      <a href="#MODE_HORSEFLY_MANUAL_CTRL">MODE_HORSEFLY_MANUAL_CTRL</a>
     </td>
     <td>In manual control mode</td>
    </tr>
    <tr id="MODE_HORSEFLY_AUTO_TAKEOFF">
     <td>1</td>
     <td>
      <a href="#MODE_HORSEFLY_AUTO_TAKEOFF">MODE_HORSEFLY_AUTO_TAKEOFF</a>
     </td>
     <td>In auto takeoff mode</td>
    </tr>
    <tr id="MODE_HORSEFLY_AUTO_LANDING">
     <td>2</td>
     <td>
      <a href="#MODE_HORSEFLY_AUTO_LANDING">MODE_HORSEFLY_AUTO_LANDING</a>
     </td>
     <td>In auto landing mode</td>
    </tr>
    <tr id="MODE_HORSEFLY_NAVI_GO_HOME">
     <td>3</td>
     <td>
      <a href="#MODE_HORSEFLY_NAVI_GO_HOME">MODE_HORSEFLY_NAVI_GO_HOME</a>
     </td>
     <td>In go home mode</td>
    </tr>
    <tr id="MODE_HORSEFLY_DROP">
     <td>4</td>
     <td>
      <a href="#MODE_HORSEFLY_DROP">MODE_HORSEFLY_DROP</a>
     </td>
     <td>In drop mode</td>
    </tr>
   </tbody>
  </table>
  <a id="MAV_CMD">
  </a>
  <h2 id="mav_commands">MAVLink Commands (<a href="#mav_commands">MAV_CMD</a>)</h2>
  <blockquote class="alert alert-info clearfix">
   <strong class="fa fa-2x fa-edit">
   </strong>
   <p>MAVLink commands (<a href="#mav_commands">MAV_CMD</a>) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.</p>
  </blockquote>
  <p>
  </p>
  <h3 id="MAV_CMD_PRS_SET_ARM">MAV_CMD_PRS_SET_ARM (<a href="#MAV_CMD_PRS_SET_ARM">60050</a>
   )
  </h3>
  <p>
   <a href="#mav_commands">
    [Command]
   </a>AVSS defined command. Set PRS arm statuses.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Param (:Label)</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>1: ARM status</td>
     <td>PRS arm statuses</td>
    </tr>
    <tr>
     <td>2</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>3</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>4</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>5</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>6</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>7</td>
     <td>User defined</td>
    </tr>
   </tbody>
  </table>
  <h3 id="MAV_CMD_PRS_GET_ARM">MAV_CMD_PRS_GET_ARM (<a href="#MAV_CMD_PRS_GET_ARM">60051</a>
   )
  </h3>
  <p>
   <a href="#mav_commands">
    [Command]
   </a>AVSS defined command. Gets PRS arm statuses</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Param (:Label)</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>1</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>2</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>3</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>4</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>5</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>6</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>7</td>
     <td>User defined</td>
    </tr>
   </tbody>
  </table>
  <h3 id="MAV_CMD_PRS_GET_BATTERY">MAV_CMD_PRS_GET_BATTERY (<a href="#MAV_CMD_PRS_GET_BATTERY">60052</a>
   )
  </h3>
  <p>
   <a href="#mav_commands">
    [Command]
   </a>AVSS defined command.  Get the PRS battery voltage in millivolts</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Param (:Label)</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>1</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>2</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>3</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>4</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>5</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>6</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>7</td>
     <td>User defined</td>
    </tr>
   </tbody>
  </table>
  <h3 id="MAV_CMD_PRS_GET_ERR">MAV_CMD_PRS_GET_ERR (<a href="#MAV_CMD_PRS_GET_ERR">60053</a>
   )
  </h3>
  <p>
   <a href="#mav_commands">
    [Command]
   </a>AVSS defined command. Get the PRS error statuses.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Param (:Label)</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>1</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>2</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>3</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>4</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>5</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>6</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>7</td>
     <td>User defined</td>
    </tr>
   </tbody>
  </table>
  <h3 id="MAV_CMD_PRS_SET_ARM_ALTI">MAV_CMD_PRS_SET_ARM_ALTI (<a href="#MAV_CMD_PRS_SET_ARM_ALTI">60070</a>
   )
  </h3>
  <p>
   <a href="#mav_commands">
    [Command]
   </a>AVSS defined command. Set the ATS arming altitude in meters.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Param (:Label)</th>
     <th>Description</th>
     <th>Units</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>1: Altitude</td>
     <td>ATS arming altitude</td>
     <td>m</td>
    </tr>
    <tr>
     <td>2</td>
     <td>User defined</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>3</td>
     <td>User defined</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>4</td>
     <td>User defined</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>5</td>
     <td>User defined</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>6</td>
     <td>User defined</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>7</td>
     <td>User defined</td>
     <td>
     </td>
    </tr>
   </tbody>
  </table>
  <h3 id="MAV_CMD_PRS_GET_ARM_ALTI">MAV_CMD_PRS_GET_ARM_ALTI (<a href="#MAV_CMD_PRS_GET_ARM_ALTI">60071</a>
   )
  </h3>
  <p>
   <a href="#mav_commands">
    [Command]
   </a>AVSS defined command. Get the ATS arming altitude in meters.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Param (:Label)</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>1</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>2</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>3</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>4</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>5</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>6</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>7</td>
     <td>User defined</td>
    </tr>
   </tbody>
  </table>
  <h3 id="MAV_CMD_PRS_SHUTDOWN">MAV_CMD_PRS_SHUTDOWN (<a href="#MAV_CMD_PRS_SHUTDOWN">60072</a>
   )
  </h3>
  <p>
   <a href="#mav_commands">
    [Command]
   </a>AVSS defined command. Shuts down the PRS system.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Param (:Label)</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>1</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>2</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>3</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>4</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>5</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>6</td>
     <td>User defined</td>
    </tr>
    <tr>
     <td>7</td>
     <td>User defined</td>
    </tr>
   </tbody>
  </table>
  <h2 id="messages">MAVLink Messages</h2>
  <h3 id="AVSS_PRS_SYS_STATUS">AVSS_PRS_SYS_STATUS (<a href="#AVSS_PRS_SYS_STATUS">
    #60050
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>AVSS PRS system status.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Units</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>time_boot_ms</td>
     <td>uint32_t</td>
     <td>ms</td>
     <td>Timestamp (time since PRS boot).</td>
    </tr>
    <tr>
     <td>error_status</td>
     <td>uint32_t</td>
     <td>
     </td>
     <td>PRS error statuses</td>
    </tr>
    <tr>
     <td>battery_status</td>
     <td>uint32_t</td>
     <td>
     </td>
     <td>Estimated battery run-time without a remote connection and PRS battery voltage</td>
    </tr>
    <tr>
     <td>arm_status</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>PRS arm statuses</td>
    </tr>
    <tr>
     <td>charge_status</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>PRS battery charge statuses</td>
    </tr>
   </tbody>
  </table>
  <h3 id="AVSS_DRONE_POSITION">AVSS_DRONE_POSITION (<a href="#AVSS_DRONE_POSITION">
    #60051
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>Drone position.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Units</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>time_boot_ms</td>
     <td>uint32_t</td>
     <td>ms</td>
     <td>Timestamp (time since FC boot).</td>
    </tr>
    <tr>
     <td>lat</td>
     <td>int32_t</td>
     <td>degE7</td>
     <td>Latitude, expressed</td>
    </tr>
    <tr>
     <td>lon</td>
     <td>int32_t</td>
     <td>degE7</td>
     <td>Longitude, expressed</td>
    </tr>
    <tr>
     <td>alt</td>
     <td>int32_t</td>
     <td>mm</td>
     <td>Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.</td>
    </tr>
    <tr>
     <td>ground_alt</td>
     <td>float</td>
     <td>m</td>
     <td>Altitude above ground, This altitude is measured by a ultrasound, Laser rangefinder or millimeter-wave radar</td>
    </tr>
    <tr>
     <td>barometer_alt</td>
     <td>float</td>
     <td>m</td>
     <td>This altitude is measured by a barometer</td>
    </tr>
   </tbody>
  </table>
  <h3 id="AVSS_DRONE_IMU">AVSS_DRONE_IMU (<a href="#AVSS_DRONE_IMU">
    #60052
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>Drone IMU data. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Units</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>time_boot_ms</td>
     <td>uint32_t</td>
     <td>ms</td>
     <td>Timestamp (time since FC boot).</td>
    </tr>
    <tr>
     <td>q1</td>
     <td>float</td>
     <td>
     </td>
     <td>Quaternion component 1, w (1 in null-rotation)</td>
    </tr>
    <tr>
     <td>q2</td>
     <td>float</td>
     <td>
     </td>
     <td>Quaternion component 2, x (0 in null-rotation)</td>
    </tr>
    <tr>
     <td>q3</td>
     <td>float</td>
     <td>
     </td>
     <td>Quaternion component 3, y (0 in null-rotation)</td>
    </tr>
    <tr>
     <td>q4</td>
     <td>float</td>
     <td>
     </td>
     <td>Quaternion component 4, z (0 in null-rotation)</td>
    </tr>
    <tr>
     <td>xacc</td>
     <td>float</td>
     <td>m/s/s</td>
     <td>X acceleration</td>
    </tr>
    <tr>
     <td>yacc</td>
     <td>float</td>
     <td>m/s/s</td>
     <td>Y acceleration</td>
    </tr>
    <tr>
     <td>zacc</td>
     <td>float</td>
     <td>m/s/s</td>
     <td>Z acceleration</td>
    </tr>
    <tr>
     <td>xgyro</td>
     <td>float</td>
     <td>rad/s</td>
     <td>Angular speed around X axis</td>
    </tr>
    <tr>
     <td>ygyro</td>
     <td>float</td>
     <td>rad/s</td>
     <td>Angular speed around Y axis</td>
    </tr>
    <tr>
     <td>zgyro</td>
     <td>float</td>
     <td>rad/s</td>
     <td>Angular speed around Z axis</td>
    </tr>
   </tbody>
  </table>
  <h3 id="AVSS_DRONE_OPERATION_MODE">AVSS_DRONE_OPERATION_MODE (<a href="#AVSS_DRONE_OPERATION_MODE">
    #60053
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>Drone operation mode.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Units</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>time_boot_ms</td>
     <td>uint32_t</td>
     <td>ms</td>
     <td>Timestamp (time since FC boot).</td>
    </tr>
    <tr>
     <td>M300_operation_mode</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>DJI M300 operation mode</td>
    </tr>
    <tr>
     <td>horsefly_operation_mode</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>horsefly operation mode</td>
    </tr>
   </tbody>
  </table>
 </body>
</html>
